JPH09323225A - Work transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To promote lightness in weight of a mechanism to rotate a work after being held as well as to make a method of how to take the timing of the beginning and the end of rotational positioning to the position of a vertical or longitudinal frame easy enough, and further, to dispense with a control circuit. SOLUTION: A holding shaft 33 is pivoted to a longitudinal frame 30 and moved forward or backward together with this longitudinal frame 30, while a rocker lever 34 is attached to this holding shaft 33, and since a rocker roller 36A pivoted to this rocker lever 34 is so constituted as to be usually touchable to a dogattached to a vertical frame 20, the holding shaft 33 moves froward or backward together with the longitudinal frame 30 due to both forward and backward movements of the longitudinal frame 30, thereby rocking the rocker lever 34 attached to this holding shaft 33, and thus the holding shaft 33 is rotated by rocking motion of this rocker lever 34. While the vertical frame goes up and the longitudinal frame is reached to a destination end, after this vertical frame goes down and it holds a work W, this work W is rotated at the same angle as a rocking angle of the rocker lever 34.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for holding, transferring and placing a work by means of upper and lower frames, front and rear frames and a work holding mechanism attached to the front and rear frames. The present invention relates to a work transfer device that holds a work and then transfers the work by changing the direction of the work.

[0002]

2. Description of the Related Art In the prior art, for example, as shown in FIG.
0 is attached so as to be movable back and forth, a rotary actuator 133 which can be rotationally positioned is attached below the front and rear frame 130, and a work transfer mechanism in which a work holding mechanism 150 is attached to the lower end of the rotary actuator 133. The device is known.

In this work transfer device, the upper and lower frame members 120 are lowered by the action of the upper and lower cams 108, and the rotary table 102 is moved.
After gripping the work W placed on it by the fingers 151 of the work holding mechanism 150, the upper and lower frame bodies 120 are raised, and the front and rear frame bodies 130 are moved forward by the action of front and rear cams (not shown) to transfer the work W, The work W held by the fingers 151 by lowering the upper and lower frame bodies 120 again.
Is placed on the carrier 103, and the rotary actuator 133 is rotated until the work W on the turntable 102 is placed on the carrier 103.
For example, 90 ° with respect to the position of the upper work W in the horizontal plane.
It is rotated and placed on the carrier 103.

[0004]

In the work transfer device according to the above-mentioned conventional technique, the rotary actuator 133 is attached to the lower part of the front and rear frame 130, but the weight of the rotary actuator 133 is heavy. Therefore, it is easy for the vertical slide mechanism 122 that holds the upper and lower frame bodies 120 to move vertically in the fixed frame body 110 and the front and rear slide mechanism 132 that holds the front and rear frame bodies 130 in the upper and lower frame bodies 120 to move back and forth. Further, there is a problem that the gripping position of the finger 151 with respect to the work W placed on the rotary table 102 and the placement position of the finger 151 with respect to the predetermined position of the work W placed on the transport table 103 are unstable. It was

The rotary actuator 133 uses a servomotor, an air actuator or the like to perform rotational positioning control by electricity or air pressure. However, the rotary actuator 133 is rotated relative to the position of the upper and lower frames 120 or the front and rear frames 130. There is a problem that it is difficult to set the timing of the start and end of the dynamic positioning, and the control circuit becomes complicated.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to mechanically reduce the weight of a work rotating mechanism provided on the front and rear frame members, and An object of the present invention is to provide a device in which the timing of the start and end of the rotational positioning with respect to the position of the frame body or the front and rear frame bodies can be easily taken and a control circuit is unnecessary.

[0007]

In order to achieve the above-mentioned object, the work transfer device of the present invention comprises an upper and lower frame member vertically movably attached to a fixed frame member, and a front and rear member on the upper and lower frame member. A front and rear frame body that is movably attached, and a work holding mechanism that is attached to the upper and lower frame bodies and the front and rear frame body and has a holding function such as gripping, holding, or sucking. A work transfer device for holding, transferring, and mounting a work holding mechanism, one end of which is detachably formed with a work holding mechanism and is pivotally attached to the front and rear frames, and one end of which is fixed to the holding shaft. And a swing lever having a spring hook formed at the other end and swingable together with the holding shaft, and a swing roller pivotally mounted between one end and the other end of the swing lever. , The front end is formed to project at right angles to the front-rear movement direction of the front-rear frame and to the inner side of the front-rear frame. A dog attached to the upper and lower frames so as to be able to contact the swing roller, and one end is locked to a spring hook portion of the swing lever and the other end is locked to the upper and lower frame bodies to lock the swing lever. A spring for urging the rocking roller so that it can always come into contact with the dog via the holding shaft, which is always brought into contact with the dog and is rotatable by moving the holding shaft forward or backward together with the front and rear frames. With the swing roller as the swing center, the swing lever fixed to the holding shaft is swung, and the holding shaft is swung by the swing of the swing lever.

Further, a stop roller attached between one end and the other end of the swing lever, and a swing stopper attached to the front and rear frame bodies so as to be capable of contacting the stop roller are provided. The stop roller is brought into contact with the rocking stopper during either the backward movement of the body to the forward movement or the movement of the body from the forward movement to the backward movement, so that the front and rear frame bodies move forward or backward. , The swing lever maintains a set swing angle position that has been swung from the start of swing to the stop roller contacting the stop stopper, so that the swing lever can move forward or backward together with the front and rear frames. It is the one.

According to the present invention, as described above, the holding shaft is pivotally attached to the front and rear frame bodies and moves back and forth together with the front and rear frame bodies, and the swing lever is fixed to the hold shaft and pivotally attached to the swing lever. Since the rocking roller is always in contact with the dogs attached to the upper and lower frames, the holding shaft is moved forward and backward together with the front and rear frames by the forward and backward movements of the front and rear frames, and is fixed to the holding shaft. The swing lever is swung, and the swinging lever swings the holding shaft.

Then, after the work is held by the work holding mechanism which is attached to the holding shaft and has a holding function such as gripping, pinching, or sucking, the upper and lower frame bodies move up and the front and rear frame bodies move from the forward end to the backward end, or During the transfer from the backward end to the forward end until reaching the target end, the work holding mechanism attached to the holding shaft is rotated together with the holding shaft rotated by the swing of the swing lever, The direction of the work held by is changed by the rotation angle of the work holding mechanism, and the work is placed after the upper and lower frames reach the lower end.

Further, the rocking lever is provided with a stop roller and the rocking stoppers on the front and rear frames, and the rocking angle of the rocking lever is arbitrarily set until the front and rear frames reach the forward end or the backward end. It can be set.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described based on examples with reference to the drawings. First, the configuration of the device of the present invention will be described below with reference to FIGS. 1 to 5.

As shown in FIG. 2, the apparatus according to the present invention has a machine base 1
A fixed frame body 10 attached to the upper surface of the fixed frame body, a vertical frame body 20 that moves up and down on the front surface of the fixed frame body 10, and a front and rear frame body 30 that moves back and forth on the lower surface of the vertical frame body 20. The holding shaft 33 is rotatably pivotally attached to the front and rear frame bodies 30, and the work holding mechanism 50 is attached to the lower end of the holding shaft 33 to lower the upper and lower frame bodies 20 and then the work holding mechanism 50. Holds the work W placed on the upper surface of the turntable 2,
The upper and lower frame bodies 20 rise, the front and rear frame bodies 30 move forward, and the upper and lower frame bodies 20 descend again. During this time, the work W is rotated to change the position in the horizontal plane, and the work W is conveyed. Is a device to be placed on the upper surface of.

The fixed frame body 10 has a fixed frame 4 attached to the upper surface of the machine base 1, and the fixed frame 4 has side plates 4 as shown in FIG.
A driven gear 7 having an inner center portion sandwiching a and 4b is rotatably supported integrally with an up-down cam 8 and a front-rear cam 11 by a drive gear 6 shown in FIGS. The side plates 4a and 4b are provided at the ends of the upper and lower cams 8 and 11 respectively.
2 and 3, the cam curved surfaces 8a and 11a are formed on the outer periphery of the cam curved surface 8a and 11a.

As shown in FIG. 2, a vertical lever 13 and a lever shaft 14 are provided above and outside the one side plate 4a of the fixed frame 4.
One end side of the up / down lever 13 is pivotally mounted near the up / down cam 8 by this, and a cam follower 9 is rotatably attached to the up / down lever 13 by contacting with a cam curved surface 8a of the up / down cam 8. Is supported in the central part of the
The universal joint 19A is supported so that the swinging action of the vertical lever 13 can be converted into a linear action.

A spring hook 17A is provided between the cam follower 9 of the up / down lever 13 and the universal joint 19A, and a spring hook 17B is erected below the outside of the side plate 4a of the fixed frame 4, and the spring hooks 17A and 17B are provided. The upper and lower springs 18
However, the up / down lever 13 is urged downward so that the cam follower 9 can be always abutted on the cam curved surface 8a of the up / down cam 8.

Further, a T-shaped upper and lower stopper 26 is attached below the spring hook 17B of the side plate 4a, and the lower end and the lower end of an upper and lower block 23, which will be described later, are attached to the tip of this upper and lower stopper 26. An adjusting bolt 26a is screwed so that the position of the tip can be adjusted at a position facing each other.
Depending on the tip position of a, the lower end of the upper / lower block 23 (that is, the lower end of the upper / lower frame 21) may move toward the cam curved surface 8 of the upper / lower cam 8.
Positioning is prioritized over the descending end position by a.
A front and rear spring 28, which will be described later, is provided near the lower rear end of the side plate 4a.
A spring hook 27B is provided upright to lock the.

As shown in FIG. 3, a front and rear lever 15 and a lever shaft 16 are provided above and outside the other side plate 4b of the fixed frame 4.
By this, one end side of the front-rear lever 15 is pivotally mounted near the front-rear cam 11 so that the cam follower 12 abuts on the cam curved surface 11a of the front-rear cam 11 so as to be rotatable. A roller 29 is supported slightly toward the lever shaft 16 from the central portion of the rear end of the guide groove 25a, and a roller 29 is provided at the other end of the guide groove 25a on the front side or the rear side of the front-rear block 25 (which is either the front-rear operating direction of the front-rear lever 15).
And is rotatably supported. Also, the side plate 4
A spring hook 27B for hooking a front and rear spring 28, which will be described later, is provided upright near the lower rear end of b.

As shown in FIG. 3, a slide rail 22A of a vertical slide mechanism 22 is attached to the front surface of the fixed frame 4, and sliders 22B, 2 are attached to this slide rail 22A.
2B is attached to the slide rail 22A so as to be vertically movable. Then, the sliders 22B, 2
A rear surface of an upper and lower frame 21 of an upper and lower frame body 20 described later is attached to 2B, and the upper and lower frame body 20 is held by a vertical slide mechanism 22 so as to be vertically movable.

Next, the upper and lower frames 20 are fixed to the upper and lower frames 21 by the vertical slide mechanism 22 as described above.
Is vertically movably held by the fixed frame 4 and the adjusting bolt 26a is provided outside the side plate 21a of the upper and lower frames 21 shown in FIGS.
The upper and lower blocks 23 are attached to the upper side opposite to the upper and lower blocks 23, and a universal joint 19B connected to the universal joint 19A is swingably and pivotally attached to the upper portion of the upper and lower blocks 23.

The vertical lever 13 is urged downward by a vertical spring 18 by the rotation of the vertical cam 8 shown in FIG.
The cam follower 9 supported by the head moves toward the center of the up / down cam 8 along the cam curved surface 8a, and the up / down lever 13 is swung downward around the lever shaft 14 as a swing center.
Upper and lower frames 21 through A, 19B and upper and lower blocks 23
2 is lowered from the upper end position shown in FIG. 2, and the upper and lower cams 8 are subsequently rotated to raise the upper and lower frames 21.

On the outside of the side plate 21a of the upper and lower frame 21, as shown in FIGS. 1 and 2, a dog 24 is formed on the front end side of the lower end, and an L-shaped tip portion is formed orthogonal to the T-shaped lower end. Is attached to the inside of the front and rear frame body 30 so as to be able to contact the swing roller 36A described later, and the position of the front and rear direction can be adjusted.
A block 37 is provided on the left rear end side of the dog 24 shown in FIG.
However, a spring hook 37B for hooking one end of a spring 38, which will be described later,
Is erected so as to project downward.

As shown in FIGS. 1 to 3, sliders 32B and 32 of a front and rear slide mechanism 32 are provided on the lower surface of the upper and lower frames 21.
B is attached, and a slide rail 32A is attached to the sliders 32B and 32B so that the sliders 32B and 32B can move back and forth. And this slide rail 3
2A is a top plate 31 of a front and rear frame 31 of a front and rear frame body 30 described later.
The front and rear frame body 30 is fitted on the upper surface of a and is held by a front and rear slide mechanism 32 so as to be movable back and forth.

Next, as described above, in the front-rear frame body 30, the top plate 31a of the front-rear frame 31 is held by the front-rear slide mechanism 32 in the upper and lower frames 21 of the upper and lower frame bodies 20 so as to be movable back and forth. Side plates 31c, 31c are attached to the front and rear ends, and a base plate 31b having a cylindrical portion that bulges downward is attached to the lower surfaces of the side plates 31c, 31c, and the slide rail 32A fitted to the top plate 31a is attached. Front and rear blocks 2 at the rear end
The roller 5 is attached to the guide groove 25a so that the roller 29 can be inserted and rotated.

The cam follower 12 supported by the front and rear levers 13 is rotated by the rotation of the front and rear cams 11 shown in FIG.
Is moved away from the center of the front and rear cams along the cam curved surface 11a, and the front and rear lever 15 is swung left around the lever shaft 16 as a swing center, and the front and rear frames are passed through the rollers 29, the front and rear blocks 25 and the slide rails 32A. 3 is moved to the left from the retracted end position shown in FIG. 3, and the front-rear cam 11 is subsequently rotated to retract the front-rear frame 31 to the right.

A front and rear stopper 41 is erected on the upper surface of the front end of the top plate 31a of the front and rear frame 31, as shown in FIGS. 2 and 3, and an adjusting bolt 41 is provided at the upper end of the front and rear stopper 41.
a is screwed so that the position of the tip can be adjusted at a position where the front end of the lower frame 21 and the front end of the lower frame 21 face each other. The tip end position of the adjusting bolt 41a causes the rear end of the top plate 31a (that is, the front and rear frames 3
The rearward end position of 1) is positioned with priority over the rearward end position of the front and rear cams 11 by the cam curved surface 11a.

Further, spring hooks 27A, 27A are erected on both side surfaces of the top plate 31a so that one end of a spring 28 can be lifted. The spring hooks 27A, 27A and the lower rear end of the fixed frame 4 are near each other. Front and rear springs 28 urge the front and rear frames 31 rearward to the upright spring hooks 27B and 27B, respectively, so that the cam followers 12 can be always brought into contact with the cam curved surfaces 11a of the front and rear cams 11.

The base plate 31b of the front and rear frame 31 is formed with a cylindrical portion which bulges downward in the central portion. The cylindrical portion has a holding shaft 33 as shown in FIG. 3 and a work holding mechanism 50 shown in FIG. 2 at the lower end.
A flange portion is formed so that it can be attached, and a step portion is formed at the upper end so that one end of a swing lever 34, which will be described later, can be fastened, so that the step portion is located approximately in the vertical center of the front and rear frame 31. And is pivotally attached to the shaft.

One end of a swing lever 34 is fastened to the step portion of the holding shaft 33, and a swing roller 36A is formed at the center of the upper side of the swing lever 34 at the lower end of the dog 24 described above. The rocking roller 3 is rotatably supported by a support shaft 35 in contact with the L-shaped tip portion (state of FIGS. 5a and 5b).
A stop roller 36B is coaxial with 6A on the lower surface side of the rocking lever 34, and can come into contact with the front surface of a rocking stopper 39 provided upright on the rear end side of the base plate 31b and before the forward end of the front and rear frame 31 ( 5b) The shaft 35 is supported.

A spring hook 37A is erected on the other end of the rocking lever 34 so that one end of a spring 38 can be hooked. The spring hook 37A and the lower end rear end of the upper and lower frames 21 are erected. The spring 38 is attached to the spring hook 37B and the spring 38 is attached to the swing lever 34.
Is urged rearward so that the swing roller 36A can always contact the L-shaped tip of the dog 24 (states of FIGS. 5a and 5b), and the stop roller 36B is provided in front of the forward end of the front and rear frame 31. 5 can be brought into contact with the swing stopper 39 provided upright on the rear end side of the base plate 31b (state of FIG. 5b. Incidentally, when the front and rear frame 31 is further advanced from the state of FIG. 5b, as shown in FIG. 5c, The swing roller 36A is hooked (separated from the dog 24).

When the front / rear frame 31 is advanced from the retracted end position shown in FIG. 5 (a), the rocking lever 34 causes the rocking roller 36A to contact the dog 24 attached to the upper and lower frame bodies 21.
5 is swung in the clockwise direction about the swing center as shown in FIG. 5B, and the holding shaft 33 is swung in the clockwise direction. When the front and rear frames 31 are further advanced to the position shown in FIG. 5B, the stop roller 36B contacts the swing stopper 39, and the swing angle position of the swing lever 34 in the clockwise direction is positioned. When the front and rear frames 31 are further advanced from the position shown in FIG. 5B, the swing roller 36A moves to the dog 2 position.
4 and the swing lever 34 is kept in the clockwise swing angle position shown in FIG. 5B by the stop roller 36B that is in contact with the swing stopper 39. Move forward to the position shown in c).

The setting of the swing angle (that is, the swing angle of the holding shaft 33) from the swing start to the swing end of the swing lever 34 described above is performed by swinging the dog 24 shown in FIGS. The distance between the contact surface of the moving roller 36A and the contact surface of the stop roller 36B of the rocking stopper 39 is adjusted, or the axis of the holding shaft 33 and the rocking roller 34 are stopped by the rocking roller 36A. This can be set by adjusting the distance from the axis of the support shaft 35 that supports the roller 36B, but in the present embodiment, the dog 24 is adjusted in position in the left-right direction (ie, front-back direction) shown in FIG. It is configured so that the moving angle can be set.

The maximum swing angle of the swing lever 34 (that is, the maximum swing angle of the holding shaft 33) is set by the front and rear frames 31.
The forward / backward movable distance (stroke in the front-back direction), or the axis of the holding shaft 33, the swing lever 34, and the swing roller 36.
A, the distance from the axis of the support shaft 35 that supports the stop roller 36B, or the swing roller 36A, the stop roller 3
It can be set by the outer diameter of 6B.

When it is desired to increase or decrease the rotation angle of the holding shaft 33 with respect to the rotation angle of the swing lever 34 at a constant ratio, the swing lever of the holding shaft 33 is rotated. The portion for fastening 34 and the portion for attaching the work holding mechanism 50 are divided into two shafts, and, for example, gears having different numbers of teeth (not shown) are provided on the respective shafts.
The swing angle of the swing lever 34 and the swing angle of the holding shaft 33 can be changed according to the tooth ratio.

Next, the operation of the device of the present invention will be described below with reference to FIGS. 1 to 3 and 5.

As shown in FIG. 2, the upper and lower ends of the upper and lower frame body 20 are positioned by the cam followers 9 which are urged by the upper and lower springs 18 and are in contact with the cam curved surfaces 8a of the upper and lower cams 8.
However, since the upper and lower cams 8 rotate to move along the cam curved surface 8a, the upper and lower levers 34 are swung, and the universal joint 19
Upper and lower frame bodies 2 through A, 19B and upper and lower blocks 23
0 is moved up and down.

The upper end of the upper and lower frame body 20 is positioned by contacting the cam follower 9 to the cam curved surface 8a having the maximum radius of the upper and lower cams 8, and the lower end of the upper and lower frame body 20 is moved up and down by the cam follower 9. The cam 8 is positioned by abutting on the cam curved surface 8a having the smallest radius, but the vertical stopper 2 is positioned above the lower end position positioned by the vertical cam 8.
When the tip of the adjusting bolt 26a of No. 6 is adjusted so as to contact the lower surface of the upper and lower blocks 23, the upper and lower cams 8 are positioned above the lower end position of the cam curved surface 8a.

Next, the positioning of the forward and backward ends of the front and rear frame body 30 is performed by the cam follower 12 which is urged by the front and rear springs 28, 28 shown in FIGS. 2 and 3 and is in contact with the cam curved surface 11a of the front and rear cam 11. However, since the front and rear cams 11 rotate to move along the cam curved surface 11a, the front and rear levers 15 are swung, and the front and rear frame bodies 30 are moved back and forth via the rollers 29, the front and rear blocks 25, and the slide rails 32A.

At the forward end of the front and rear frame body 30, the cam follower 12 has the cam curved surface 1 having the maximum radius of the front and rear cams 11.
1a is positioned and the rear end of the front and rear frame body 30 is positioned by the cam follower 12 contacting the cam curved surface 11a having the smallest radius of the front and rear cam 11, and the rear end is positioned by the front and rear cam 11. The front end portion of the adjustment bolt 41a of the front and rear stopper 41 is located in front of the position
When it is adjusted so as to come into contact with the front surface of the lower end of the front end of the front and rear cams 11, the front and rear cams 11 are positioned ahead of the retracted end position of the cam curved surface 11a.

Next, in the rotational positioning of the holding shaft 33 provided on the front and rear frame bodies 30, the swing lever 34 is biased by the spring 38 as shown in FIGS. Since the rocking roller 36A is in contact with the L-shaped tip portion of the dog 24, the rocking lever 34 moves the front and rear frames 31 forward or backward so that the rocking roller 36A pivots about the rocking roller 36A. When the front and rear frames 31 retreat, they swing in the clockwise direction, and in the counterclockwise direction, the holding shaft 33 rotates in the same direction as the swing lever 34.

The counterclockwise swing angle position of the swing lever 34 is such that the front and rear frame 31 is positioned at the retracted end position shown in FIG. 5 (a). When the front and rear frames 31 are moved forward from the retracted end position shown in FIG. 5A to the position shown in FIG. 5B, the rocking lever 34 moves to the dog 24 position. Roller 36A that abuts against
Is swung in the clockwise direction about the swing center, and the stop roller 36B contacts the swing stopper 39 at the position shown in FIG. 5 (b) to set the swing lever 34 in the clockwise set swing angle position ( In this example, the setting is 90 °).

Further, when the front and rear frame 31 is advanced from the position shown in FIG. 5B, the rocking roller 36A is separated from the dog 24, and the rocking lever 34 is moved by the stop roller 36B which contacts the rocking stopper 39. In the state where the clockwise swing angle position shown in FIG. 5B is maintained, the front and rear frames 31 are advanced to the position shown in FIG. 5C.

Therefore, the work holding mechanism 50 attached to the holding shaft 33 at the retracted end position of the front and rear frames 31 shown in FIG. 5A.
The workpiece W gripped by the robot W moves forward while turning clockwise in the horizontal plane as the front and rear frames 31 move forward,
5B is positioned at the set turning angle (set to 90 ° in the present embodiment) at the position shown in FIG. 5B, and the set turning angle shown in FIG. 5B is maintained until the position shown in FIG. 5C. Advance.

Subsequently, the above-mentioned vertical movement position of the upper and lower frame bodies 20, the forward and backward movement positions of the front and rear frame bodies 30, and the swing lever 3 are described.
The respective correlations of the rocking angular positions of 4 (= the turning angular position of the holding shaft 33 = the turning angular position of the work W) will be described below with reference to FIGS. 2, 5 and 6.

The operation cycle of this embodiment is shown in FIG.
The operation cycle is repeated from the start position S to the end position E. At the start position S of one operation cycle, the vertical movement position of the upper and lower frame body 20 is a position a little lower than the state of the ascending end shown in FIG. 2, and the front and rear movement position of the front and rear frame body 30 is the rearward end (FIG. 2). B position (in the state shown in FIG. 5) and the swing angle position of the swing lever 34 are respectively located at the c position of the starting angle (the state shown in FIG. 5A).

From the state of the starting position S, first, the upper and lower frame members 20 are lowered by the rotation of the upper and lower cams 8 from the position a to the position d of the lower end, and then the position e is maintained. After holding the work W by the work holding mechanism 50 shown in FIG. 2, the front and rear frame bodies 30 rotate the front and rear cams 11 at a position before the upper and lower frame bodies 20 are lifted and reach the h position at the rising end. Is advanced from the backward end of the f position toward the forward end of the k position by
Simultaneously with the forward movement of the front and rear frame 30, the swing lever 34 swings from the starting angle of the g position about the axis of the support shaft 35 as a swing center to j.
It is swung toward the set angle of the position. By this swing of the swing lever 34, the workpiece W is rotated 90 ° clockwise from the angular position in the horizontal plane shown in FIG. 5A as shown in FIG. 5B.

At the j position of the swing lever 34, the stop roller 36B contacts the swing stopper 39 (the state shown in FIG. 5B), and the swing of the swing lever 34 is stopped at the set angle. However, while the set angle of the swing lever 34 is maintained (that is, the position of the work W in the horizontal plane is maintained at the angular position rotated 90 ° clockwise in FIG. 5B), 30 continues to move forward, j
The forward end (the state shown in FIG. 5C) at the k position is reached after γ hours from the position.

On the other hand, the upper and lower frame bodies 20 which have maintained the rising end position are in front of the β time when the front and rear frame bodies 30 reach the forward end of the k position (the swing lever 34 reaches the set angle j). Position i), which is almost the same timing as the position), is lowered toward the descending end of the m position, and the work holding mechanism 50 is released to hold the workpiece W until the n position where the descending end is maintained thereafter. After the placement, the upper and lower frame bodies 20 rise from the n position toward the rising end of the q position.

During this time, the front-rear frame body 30 which has maintained the forward end position is located at the v-position (that is, at the rear end) from the p-position that is δ hours before the q-position at which the upper and lower frame bodies 20 reach the rising end.
The start position S of one operation cycle is retracted toward the b position, which is the same as the b position, and after η time from the p position of the front and rear frame members 30 (the q position at which the upper and lower frame members 20 reach the rising end). The swing lever 34, which has maintained the set angular position at substantially the same timing), starts from the r position to the w position which is an angular position (that is, the same starting angular position as the c position of the starting position S of one operation cycle). Rock toward.

Further, the upper and lower frame bodies 20 which have maintained the ascending end position have a λ time longer than the v position where the front and rear frame bodies 30 reach the retracted end position and the w position where the swing lever 34 reaches the starting angular position. A position slightly lower than the ascending end of the u position from the front position t (that is, the start position S of one operation cycle S
To the same descending position as the position a).

Then, the upper and lower frame bodies 20 are slightly lowered from the ascending end in the u position, the front and rear frame bodies 30 are in the retracting end position in the v position, and the swing lever 34 is in the starting angular position in the w position. , One operation cycle ends at the end position E where each reaches, the operation returns to the start position S, and the above-described operation is repeated.

In this embodiment, the front-rear movement position of the front and rear frame body 30 is set to the retracted end at the start position S of one operation cycle and the forward end at the end position E of one operation cycle. You may comprise.

[0053]

Since the present invention is configured as described above, it has the following effects.

By moving the holding shaft forward or backward together with the front and rear frames, the swing lever fixed to the holding shaft is swung about a swinging roller that is always in contact with the dog and is rotatable. Since the holding shaft is rotated by swinging the swing lever, the weight can be reduced, and the vertical slide mechanism that holds the upper and lower frames in the fixed frame so that they can move up and down, and the front and rear frames can be moved back and forth. The front / rear slide mechanism that holds the work on the upper and lower frames as much as possible does not overload, and the work holding mechanism can be placed at the grip position of the work holding mechanism before transfer and the predetermined work mounting position after transfer. Position can be positioned stably.

Further, since the work rotating mechanism provided below the front and rear frame bodies is mechanically constructed, the timing of the start and end of the rotary positioning with respect to the positions of the upper and lower frame bodies or the front and rear frame bodies is determined. Can be easily performed, and a complicated control circuit is not required, and the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a front view of a work transfer device according to the present invention.

FIG. 2 is a left side view of FIG. 1 as viewed in the direction of arrow A.

FIG. 3 is a right side view of FIG. 1 as viewed in the direction of arrow B, and is a cross-sectional view taken along the line CC of only the front and rear frame portions.

FIG. 4 is a cross-sectional view of FIG. 3 taken along the line D-D.

5 is an explanatory view showing the operating principle of the present invention as viewed from the direction of the arrow E-E in FIG. 2, in which FIG.
(B) shows the respective configurations when the front and rear frames are at positions immediately before the forward ends, and (c) shows respective configurations when the front and rear frames are at the forward ends.

FIG. 6 is a timing chart showing the correlation between the vertical movement position of the upper and lower frame members, the front and rear movement positions of the front and rear frame members, and the rotation angle position of the holding shaft.

FIG. 7 is an explanatory diagram according to a conventional technique.

[Explanation of symbols]

 8 Up / down cam 9 Cam follower 10 Fixed frame body 11 Front / rear cam 12 Cam follower 13 Up / down lever 15 Front / rear lever 20 Up / down frame body 21 Up / down frame 22 Up / down slide mechanism 30 Front / rear frame 31 Front / rear frame 32 Front / rear slide mechanism 33 Holding shaft 34 Swing lever 35 Spindle 36A Swing roller 36B Stop roller 37A, 37B Spring hook 38 Spring 39 Swing stopper 50 Work holding mechanism 51 Finger W Work

Claims (2)

[Claims] 1. A vertical frame body that is vertically movable with a fixed frame body, and a front and rear frame body that is vertically movable with the vertical frame body. A work transfer device that holds, transfers, and places a work by a body and a work holding mechanism that is attached to the front and rear frames and has a holding function such as gripping, holding, and suctioning. And a holding shaft pivotably attached to the front and rear frames, and one end fixed to the holding shaft and a spring hook portion formed at the other end so that the holding shaft can swing together with the holding shaft. A lever, a rocking roller pivotally pivoted between one end and the other end of the rocking lever, a tip portion at a right angle to the front-rear movement direction of the front-rear frame member, and A dog that is formed so as to project inward and is attached to the upper and lower frame bodies so as to be able to contact the rocking roller, and one end of the dog. A spring which is hooked on a spring hooking portion of the lever and the other end of which is hooked on the upper and lower frame bodies and biases the rocking roller via the rocking lever so that the rocking roller can always contact the dog. When the shaft moves forward or backward together with the front and rear frames, the rocking lever fixed to the holding shaft is rocked around the rocking roller which is always in contact with the dog and is rotatable. Then, the work transfer device is characterized in that the holding shaft is rotated by swinging of the swing lever. 2. A front and rear frame, comprising a stop roller mounted between one end and the other end of the rocking lever, and a rocking stopper mounted on the front and rear frame body so as to be able to contact the stop roller. The stop roller is brought into contact with the rocking stopper during either the backward movement of the body to the forward movement or the movement of the body from the forward movement to the backward movement, so that the front and rear frame bodies move forward or backward. , The swing lever maintains a set swing angle position that has been swung from the start of swing to the stop roller contacting the stop stopper, so that the swing lever can move forward or backward together with the front and rear frames. The work transfer device according to claim 1, wherein: